CN111277176A - Double-motor group cooperative control system and control method based on double current sensors - Google Patents

Double-motor group cooperative control system and control method based on double current sensors Download PDF

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CN111277176A
CN111277176A CN202010105087.4A CN202010105087A CN111277176A CN 111277176 A CN111277176 A CN 111277176A CN 202010105087 A CN202010105087 A CN 202010105087A CN 111277176 A CN111277176 A CN 111277176A
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motor
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motor subsystem
inverter
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CN111277176B (en
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鲁家栋
胡义华
王洁
倪锴
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Northwestern Polytechnical University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference

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  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention provides a double-motor group cooperative control system and a double-motor group cooperative control method based on double current sensors. The invention realizes the motor group control scheme for reducing the using amount of the current sensors, has no restriction requirement on the formation form of the power supply of the inverters of the two motor subsystems, does not need to change the basic PWM generating method of the inverters, and has simpler current sampling method and control algorithm.

Description

Double-motor group cooperative control system and control method based on double current sensors
Technical Field
The invention relates to the field of double-motor group control, in particular to a double-motor group control system and a method for reducing the using number of current sensors, and particularly relates to a control system and a method for each motor subsystem of a double-motor group to only contain one current sensor on average.
Background
In modern industrial application, the problems related to the control of a motor group, especially the problems related to the cooperative control of a plurality of motor subsystems in a motor group system, become an important research direction in the field of motor system control. In order to realize modern control algorithm and improve the system control performance, for the most common three-phase motor, each motor subsystem needs to be equipped with at least two phase current sensors to detect the three-phase current in real time and perform feedback control. Therefore, for a motor group system consisting of two motor subsystems, the number of the current sensors is required to be at least four. However, since the cost of a high-precision current sensor is often high, a large number of current sensors are important constraints for the cost reduction of a motor system. In general, in view of the problem of high cost of current sensors, measures are mainly taken to reconstruct three-phase current of each motor subsystem by using a specific single current sensor [ described in specific method documents 1 to 3, wherein document 1 is Yongxiang Xu, Hao Yan, Jibin Zou, Baochao Wang, "Zero voltage vector sampling method for PMSM current-phase current recording using single current sensor," IEEETransaction on Power Electronics, vol.32, No.5, pp.3797-3807, May 2017 (journal paper), document 2 is Jianding Lu, Xiiaokang Zhang, Yihua Hu, Ju, Junnga, Chunggan, Zheng, "waiting current measuring, waist measuring, III, "IEEE Transactions on Industry Applications, vol.51, No.2, pp.1561-1571, Mar./Apr.,2015. (journal articles) ]. The method modifies the original system from multiple aspects such as a system circuit, a control algorithm, a current sampling strategy and the like, and utilizes a single current sensor to measure the instantaneous current values of the inverter in different states in a time-sharing manner, thereby realizing the reconstruction of three-phase current. The method can be popularized to a double-motor-group system through proper correction, but the unique system composition of the double-motor-group system is not fully utilized, and the complexity and the realization difficulty of a control algorithm are high. Therefore, by using the specific structure of the double-motor group system, in order to reduce the number of current sensors, it is necessary to research the optimal design of the current sensor setting and sampling method.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a dual-motor group cooperative control system and a control method based on a dual-current sensor. In order to reduce the number of current sensors of a double-motor-group system and optimize a system structure and a control method, the invention provides a double-motor-group control system and a method based on double current sensors, and aims at the proposed control system, the chopping cycles of two motor subsystems are set to be in a mutually-reversed phase mode, in each chopping cycle, two current sampling is respectively carried out on the two current sensors under the action of two conventional zero vector vectors to obtain four current values, the respective three-phase current values of the two motor subsystems are directly obtained through simple operation, the accurate current feedback control of the motor group system is finally ensured, the change of system hardware is small, the calculation amount required by a control algorithm is small, and the implementation method is simple.
The technical scheme adopted by the invention for solving the technical problems is as follows:
in the double-motor group system, the middle points of three-phase bridge arms of inverters of each motor subsystem are respectively connected with three-phase windings of corresponding motors in sequence, and inverter power supplies of different motor subsystems adopt the same power supply or different power supplies:
under the condition of using the same power supply, six terminals of the positive ends of A, B, C three-phase bridge arms of the inverters of the motor subsystem 1 and the motor subsystem 2 are connected and connected with the positive end of the power supply, the negative ends of A-phase bridge arms of the inverters of the motor subsystem 1 and the motor subsystem 2 are connected and then pass through the current sensor 1 in the forward direction and are connected with the negative end of the power supply, the negative ends of B-phase bridge arms of the inverters of the motor subsystem 1 and the motor subsystem 2 are connected and then pass through the current sensor 2 in the forward direction and are connected with the negative end of the power supply, and the negative ends of C-phase bridge arms of the inverters of the motor subsystem 1 and the motor subsystem 2 are connected and are connected with the negative end of;
under the condition of using different power supplies, three terminals in total are connected with the positive end of a three-phase bridge arm of an inverter A, B, C of the motor subsystem 1 and are connected with the positive end of the power supply 1, the positive end of a three-phase bridge arm of an inverter A, B, C of the motor subsystem 2 and three terminals in total are connected and are connected with the positive end of the power supply 2, the negative ends of a three-phase bridge arm of an inverter A of the motor subsystem 1 and the phase A of the motor subsystem 2 respectively penetrate through the current sensor 1 in the positive direction, the negative ends of a phase B of the inverter of the motor subsystem 1 and the phase B of the inverter of the motor subsystem 2 respectively penetrate through the current sensor 2 in the positive direction, the negative end of a three-phase bridge arm of an inverter A, B, C of the motor subsystem 1 is connected with the negative end of the power supply 1, and the negative;
finally, whether the same power supply or power supplies of different power supplies are used, the circuit topology is utilized by applying the zero voltage vectors (V) at two0、V7) Under the action, current sampling is respectively carried out on the two current sensors, wherein the current sensor 1 and the current sensor 2 are in a zero-voltage vector V of the inverter 10(corresponding to inverter 2 zero voltage vector V7) The sampling values under action are respectively equal to A, B two-phase current values of the motor subsystem 1, and the C-phase current value is the opposite number of A, B two-phase current sum; zero voltage vector V of current sensor 1 and current sensor 2 in inverter 20(corresponding to inverter 1 zero voltage vector V7) The sampling values under action are respectively equal to A, B two-phase current values of the motor subsystem 2, the C-phase current value is equal to the opposite number of A, B two-phase current sum, and the obtained respective three-phase current values are used for closed-loop control.
The invention also provides a control method of the double-motor group cooperative control system based on the double current sensors, which comprises the following detailed steps:
step 1, setting triangular carriers of inverters of two motor subsystems of a double-motor group to be mutually opposite in phase;
step 2, setting the PWM period of the inverter of the motor subsystem 1 as a time reference, and setting each PWM period to be onAt a starting time t1Setting the middle time of each PWM period as t2At time t of each PWM cycle1And t2The current sampling of the 'fixed point' is respectively carried out on the two current sensors at two moments;
step 3. at t of each PWM period1At the moment, the current sampled by the current sensor 1 is the A-phase current value i of the control period motor subsystem 1A1The current sampled by the current sensor 2 is the B-phase current value i of the control period motor subsystem 1B1C-phase current value i of the motor subsystem 1 in the control periodC1According to iC1＝-iA1–iB1Obtaining;
step 4. at t of each PWM period2At the moment, the current sampled by the current sensor 1 is the A-phase current value i of the control period motor subsystem 2A2The current sampled by the current sensor 2 is the B-phase current value i of the control period motor subsystem 2B2C-phase current value i of the motor subsystem 2 during the control periodC2According to iC2＝-iA2–iB2Obtaining;
and 5, carrying out system signal feedback according to the respective three-phase current values of the two motor subsystems obtained in the steps 3 and 4, and realizing high-performance closed-loop control of the system.
The invention has the advantages that aiming at double-motor group control, in particular to a double-motor group control system and a method for reducing current sensors, compared with the prior art, the invention has the following advantages:
(1) by ingenious design, the number of current sensors required by a motor group system consisting of the double-motor subsystems can be reduced from at least 4 to 2: the motor group system formed by the existing double-motor subsystem needs at least 4 current sensors to respectively sample two-phase current of each motor subsystem, and finally obtains respective three-phase current values, the natural advantages of the motor group system are fully utilized, and the number of the current sensors in the normal motor group system is reduced from at least 4 to 2 on the basis of not influencing the normal operation of the system through ingenious design, so that the system cost is greatly reduced;
(2) the invention realizes the motor group control scheme for reducing the using number of the current sensors, and has no restriction requirement on the formation form of the inverter power supply of the two motor subsystems: the control system and the method adopted by the invention have no requirement on the power supply forming form of the inverters of the two motor subsystems, namely the power supplies of the inverters of the two motor subsystems can adopt the same power supply and can also adopt different power supplies for power supply, so that the application of the motor subsystems with different voltage levels and power levels is facilitated;
(3) the invention realizes the control system and the method for reducing the current sensors of the motor group without changing the basic PWM generating method of the inverter: the method has the advantages that the existing schemes realize that the phase current reconstruction of the multi-motor subsystem of the motor group needs to carry out bottom layer modification on the PWM generation method, which undoubtedly increases the implementation difficulty of the schemes, and the bottom layer modification on the PWM generation method usually involves multiple layers of the system, thereby influencing the normal operation of other functions of the system and generating harmful phenomena such as extra current harmonic wave, torque ripple and the like;
(4) the control system and the control method for reducing the current sensors of the motor group have the advantages that the adopted current sampling method and control algorithm are simpler: in the existing schemes, because the bottom layer of a PWM generation method of a motor group system needs to be changed, and the current of a current sensor is measured under the action of a specific basic voltage vector, the current sampling points are usually non-fixed points, namely the system needs to determine a plurality of current sampling points in each control period according to the action modes and action times of different voltage vectors, in addition, a complex compensation process required by insufficient action time of the basic voltage vector exists, and because a current sampling signal needs to be fed back in each PWM period, so that closed-loop control of the system is realized, the calculation process needs to be recalculated in each PWM period, so that the current sampling methods and the control algorithms of the schemes are complex, while the invention adopts a current sampling scheme based on a fixed point, and the time of calculating the current sampling points in each PWM period is not needed, the current sampling points do not need to be set in each PWM period, and only when the system is initialized, the sampling values of the current sensor 1 and the current sensor 2 at the starting time of each PWM period are A, B phase current values of the motor subsystem 1, the sampling values of the current sensor 1 and the current sensor 2 at the middle time of each PWM period are A, B phase current values of the motor subsystem 2, and the C-phase current values of each motor subsystem are opposite numbers of the phase current sum of A, B, so that the current sampling method and the control algorithm in the scheme are simpler.
Drawings
Fig. 1 is a circuit diagram of a dual-motor group control system based on dual current sensors when two motor subsystem inverters adopt the same power supply.
Fig. 2 is a circuit diagram of a dual-motor group control system based on dual current sensors when two motor subsystem inverters respectively adopt different power supplies.
Fig. 3 is a schematic diagram of mutually inverted triangular carrier signals employed by two motor subsystem inverters of the present invention.
In the figure, P and N respectively represent the positive and negative terminals of the dc bus voltage input when the two motor subsystem inverters adopt the same power supply, ipAnd iNRespectively represents the positive and negative terminal forward input current (i) of the common power supply in the conditionP+iN＝0)，P1、N1And P2、N2Positive and negative terminals i respectively representing respective direct current bus voltage input under the condition that the inverters of the two motor subsystems adopt different power suppliesp1、iN1And ip2、iN2Respectively represents the positive and negative terminal forward input currents (i) of the two power supply sources in the conditionP1+iN1＝0；iP2+iN2＝0)，iA1、iB1、iC1A, B, C three-phase currents i of the motor subsystem 1, respectivelyA2、iB2、iC2A, B, C three-phase currents, T, of the motor subsystem 2, respectivelysIs the switching period of the inverter, V0、V7Respectively representing 2 substantially zero voltage vectors, V, of the inverter 10'、V7' represents 2 substantially zero voltage vectors, t, of the inverter 21And t2Respectively at the start of each inverter switching cycle and at an intermediate time of the motor subsystem 1.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
In the double-motor group system, the middle points of three-phase bridge arms of inverters of each motor subsystem are respectively connected with three-phase windings of corresponding motors in sequence, and inverter power supplies of different motor subsystems adopt the same power supply or different power supplies:
as shown in fig. 1, in the case of using the same power supply, the positive ends of the three-phase bridge arms of the inverters A, B, C of the motor subsystem 1 and the motor subsystem 2 are connected to each other by six terminals, and are connected to the positive end of the power supply, the negative ends of the bridge arms of the inverter a of the motor subsystem 1 and the motor subsystem 2 are connected to each other, and then the negative ends of the bridge arms of the inverter B of the motor subsystem 1 and the motor subsystem 2 are connected to each other by passing the current sensor 2 in the forward direction, and are connected to the negative end of the power supply, and the negative ends of the bridge arms of the inverter C of the motor subsystem 1 and the motor subsystem 2 are connected to each other and are connected to the negative end of the power supply;
as shown in fig. 2, in the case of using different power supplies, three terminals in total of the positive end of the three-phase bridge arm of the inverter A, B, C of the motor subsystem 1 are connected and connected to the positive end of the power supply 1, three terminals in total of the positive end of the three-phase bridge arm of the inverter A, B, C of the motor subsystem 2 are connected and connected to the positive end of the power supply 2, the negative ends of the three-phase bridge arm of the inverter a of the motor subsystem 1 and the negative end of the three-phase bridge arm of the inverter B of the motor subsystem 2 respectively pass through the current sensor 2 in the forward direction, the negative ends of the three-phase bridge arm of the inverter A, B, C of the motor subsystem 1 are connected and connected to the negative end of the power supply 1, and the negative end of the three-phase bridge arm of the inverter A, B, C of the motor subsystem 2 is connected and connected to the negative end;
finally, no matter the same power supply or power supplies of different power supplies are adopted, the circuit topology is utilized, and the control algorithm based on the mutual reverse phase of the triangular carriers of the inverters of the two motor subsystems is combined, so that the two zero voltage vectors (V) are subjected to the control algorithm0、V7) Under the action, current sampling is respectively carried out on the two current sensors, wherein the current sensor 1 and the current sensor 2 are in a zero-voltage vector V of the inverter 10(corresponding to inverter 2 zero voltage vector V7) The sampling values under action are respectively equal to A, B two-phase current values of the motor subsystem 1, and the C-phase current value is the opposite number of A, B two-phase current sum; zero voltage vector V of current sensor 1 and current sensor 2 in inverter 20(corresponding to inverter 1 zero voltage vector V7) The sampling values under action are respectively equal to A, B two-phase current values of the motor subsystem 2, the C-phase current value is equal to the opposite number of A, B two-phase current sum, and the obtained respective three-phase current values are used for closed-loop control.
A control method of a double-motor group cooperative control system based on double current sensors comprises the following steps:
step 1, setting triangular carriers of inverters of two motor subsystems of a double-motor group to be mutually opposite in phase, as shown in figure 3;
step 2, setting the inverter PWM period of the motor subsystem 1 as a time reference, and setting the starting moment of each PWM period as t1Setting the middle time of each PWM period as t2At time t of each PWM cycle1And t2The current sampling of the 'fixed point' is respectively carried out on the two current sensors at two moments;
step 3. at t of each PWM period1At the moment, the current sampled by the current sensor 1 is the control periodA-phase current value i of machine subsystem 1A1The current sampled by the current sensor 2 is the B-phase current value i of the control period motor subsystem 1B1C-phase current value i of the motor subsystem 1 in the control periodC1According to iC1＝-iA1–iB1Obtaining;
step 4. at t of each PWM period2At the moment, the current sampled by the current sensor 1 is the A-phase current value i of the control period motor subsystem 2A2The current sampled by the current sensor 2 is the B-phase current value i of the control period motor subsystem 2B2C-phase current value i of the motor subsystem 2 during the control periodC2According to iC2＝-iA2–iB2Obtaining;
and 5, carrying out system signal feedback according to the respective three-phase current values of the two motor subsystems obtained in the steps 3 and 4, and realizing high-performance closed-loop control of the system.
When two motor subsystems adopt the same power supply, as shown in fig. 1, the inverter triangular carriers of the two motor subsystems are set to be in a mutually-inverted mode as shown in fig. 3, and at t of each PWM period1At the moment the inverter 1 is at substantially zero voltage vector V0Under action, the inverter 2 is at a substantially zero voltage vector V7Under the action of the sensor 1, the current value measured by the sensor is equal to iA1The value of the current measured by the sensor 2 is equal to iB1And the C phase current of the motor subsystem 1 is composed of iC1＝-iA1–iB1Obtaining;
at t of each PWM period2At the moment the inverter 1 is at substantially zero voltage vector V7Under action, the inverter 2 is at a substantially zero voltage vector V0Under the action of the sensor 1, the current value measured by the sensor is equal to iA2The value of the current measured by the sensor 2 is equal to iB2And the C phase current of the motor subsystem 2 is divided by iC2＝-iA2–iB2Obtaining;
the three-phase current values of the two motor subsystems of the double-motor group are obtained, and the current sampling values are utilized for system feedback, so that double-motor group cooperative control based on the double-current sensor can be realized;
when the two motor subsystems respectively adopt different power supplies, as shown in fig. 2, the system circuit diagram is different from that of the system circuit diagram adopting the same power supply, and the other control algorithms, current sampling point setting, current feedback and the like are completely consistent with those of the system circuit diagram adopting the same power supply, and are not described again.

Claims (2)

1. A double-motor group cooperative control system based on double current sensors is characterized in that:
in the double-motor group cooperative control system based on the double-current sensor, the middle points of three-phase bridge arms of inverters of each motor subsystem are respectively connected with three-phase windings of corresponding motors in sequence, and inverter power supplies of different motor subsystems adopt the same power supply or different power supplies:
under the condition of using the same power supply, six terminals of the positive ends of A, B, C three-phase bridge arms of the inverters of the motor subsystem 1 and the motor subsystem 2 are connected and connected with the positive end of the power supply, the negative ends of A-phase bridge arms of the inverters of the motor subsystem 1 and the motor subsystem 2 are connected and then pass through the current sensor 1 in the forward direction and are connected with the negative end of the power supply, the negative ends of B-phase bridge arms of the inverters of the motor subsystem 1 and the motor subsystem 2 are connected and then pass through the current sensor 2 in the forward direction and are connected with the negative end of the power supply, and the negative ends of C-phase bridge arms of the inverters of the motor subsystem 1 and the motor subsystem 2 are connected and are connected with the negative end of;
under the condition of using different power supplies, three terminals in total are connected with the positive end of a three-phase bridge arm of an inverter A, B, C of the motor subsystem 1 and are connected with the positive end of the power supply 1, the positive end of a three-phase bridge arm of an inverter A, B, C of the motor subsystem 2 and three terminals in total are connected and are connected with the positive end of the power supply 2, the negative ends of a three-phase bridge arm of an inverter A of the motor subsystem 1 and the phase A of the motor subsystem 2 respectively penetrate through the current sensor 1 in the positive direction, the negative ends of a phase B of the inverter of the motor subsystem 1 and the phase B of the inverter of the motor subsystem 2 respectively penetrate through the current sensor 2 in the positive direction, the negative end of a three-phase bridge arm of an inverter A, B, C of the motor subsystem 1 is connected with the negative end of the power supply 1, and the negative;
finally, whether the same power supply or power supplies of different power supplies are used, the circuit topology is utilized by applying the zero voltage vectors (V) at two0、V7) Under the action, current sampling is respectively carried out on the two current sensors, wherein the current sensor 1 and the current sensor 2 are in a zero-voltage vector V of the inverter 10(corresponding to inverter 2 zero voltage vector V7) The sampling values under action are respectively equal to A, B two-phase current values of the motor subsystem 1, and the C-phase current value is the opposite number of A, B two-phase current sum; zero voltage vector V of current sensor 1 and current sensor 2 in inverter 20(corresponding to inverter 1 zero voltage vector V7) The sampling values under action are respectively equal to A, B two-phase current values of the motor subsystem 2, the C-phase current value is equal to the opposite number of A, B two-phase current sum, and the obtained respective three-phase current values are used for closed-loop control.
2. A control method using the dual-motor group cooperative control system based on the dual-current sensor as claimed in claim 1, characterized by comprising the following steps:
step 1, setting triangular carriers of inverters of two motor subsystems of a double-motor group to be mutually opposite in phase;
step 2, setting the inverter PWM period of the motor subsystem 1 as a time reference, and setting the starting moment of each PWM period as t1Setting the middle time of each PWM period as t2At time t of each PWM cycle1And t2The current sampling of the 'fixed point' is respectively carried out on the two current sensors at two moments;
step 3. at t of each PWM period1At the moment, the current sampled by the current sensor 1 is the A-phase current value i of the control period motor subsystem 1A1The current sampled by the current sensor 2 is the B-phase current value i of the control period motor subsystem 1B1C-phase current value i of the motor subsystem 1 in the control periodC1According to iC1＝-iA1–iB1Obtaining;
step 4. at t of each PWM period2At the moment, the current sampled by the current sensor 1 is the A-phase current value i of the control period motor subsystem 2A2The current sampled by the current sensor 2 is the B-phase current value i of the control period motor subsystem 2B2C-phase current value i of the motor subsystem 2 during the control periodC2According to iC2＝-iA2–iB2Obtaining;
and 5, carrying out system signal feedback according to the respective three-phase current values of the two motor subsystems obtained in the steps 3 and 4, and realizing high-performance closed-loop control of the system.
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